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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
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<p><code>#include &lt;<a class="el" href="se3quat_8h_source.html">se3quat.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a5540394ac7f1a61c5e04ceed9c96617a"><td class="memItemLeft" align="right" valign="top">Matrix&lt; double, 6, 6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a5540394ac7f1a61c5e04ceed9c96617a">adj</a> () const</td></tr>
<tr class="separator:a5540394ac7f1a61c5e04ceed9c96617a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65714851482e99558401d4ea66edb183"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a65714851482e99558401d4ea66edb183">fromMinimalVector</a> (const <a class="el" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a> &amp;v)</td></tr>
<tr class="separator:a65714851482e99558401d4ea66edb183"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59aa7dffe9320761ee65bcdfa2bc61fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a59aa7dffe9320761ee65bcdfa2bc61fd">fromVector</a> (const <a class="el" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a> &amp;v)</td></tr>
<tr class="separator:a59aa7dffe9320761ee65bcdfa2bc61fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a894d361da0f27b25472b3a274deefed3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a894d361da0f27b25472b3a274deefed3">inverse</a> () const</td></tr>
<tr class="separator:a894d361da0f27b25472b3a274deefed3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab19dfa20f3d0ed68f07a81ea90bcfc76"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#ab19dfa20f3d0ed68f07a81ea90bcfc76">log</a> () const</td></tr>
<tr class="separator:ab19dfa20f3d0ed68f07a81ea90bcfc76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b2c679d255e1adc8e734215703cf01c"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a> (const Vector3d &amp;xyz) const</td></tr>
<tr class="separator:a6b2c679d255e1adc8e734215703cf01c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e2c54c6dfdaa71b677556a9d8e4e88a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a0e2c54c6dfdaa71b677556a9d8e4e88a">normalizeRotation</a> ()</td></tr>
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<tr class="memitem:addcaff389620fa395bf3093814046633"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#addcaff389620fa395bf3093814046633">operator []</a> (int i) const</td></tr>
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<tr class="memitem:ae7aa654ff10b9f4e2fa0b5583526f026"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#ae7aa654ff10b9f4e2fa0b5583526f026">operator Eigen::Isometry3d</a> () const</td></tr>
<tr class="memdesc:ae7aa654ff10b9f4e2fa0b5583526f026"><td class="mdescLeft">&#160;</td><td class="mdescRight">cast <a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> into an Eigen::Isometry3d  <a href="#ae7aa654ff10b9f4e2fa0b5583526f026">More...</a><br /></td></tr>
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<tr class="memitem:a1258baef15096f3176a3454258a132c9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a1258baef15096f3176a3454258a132c9">operator*</a> (const <a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> &amp;tr2) const</td></tr>
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<tr class="memitem:a7cc4e945656a75d927bd584c1bb4cb76"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a7cc4e945656a75d927bd584c1bb4cb76">operator*</a> (const Vector3d &amp;v) const</td></tr>
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<tr class="memitem:a0b0c9d2ff23d7e1501bc79a32e958239"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a0b0c9d2ff23d7e1501bc79a32e958239">operator*=</a> (const <a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> &amp;tr2)</td></tr>
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<tr class="memitem:a7345da50450b60ae725083fbdb85eb7d"><td class="memItemLeft" align="right" valign="top">const Quaterniond &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a7345da50450b60ae725083fbdb85eb7d">rotation</a> () const</td></tr>
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<tr class="memitem:a685de01e417e01f84d5b8389e5f5f333"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a685de01e417e01f84d5b8389e5f5f333">SE3Quat</a> ()</td></tr>
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<tr class="memitem:abb3e9184aa02bf6ced3f6d4cd0825f33"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#abb3e9184aa02bf6ced3f6d4cd0825f33">SE3Quat</a> (const Matrix3d &amp;R, const Vector3d &amp;t)</td></tr>
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<tr class="memitem:ab22b3fde9b7e0a833b74b3453041c040"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#ab22b3fde9b7e0a833b74b3453041c040">SE3Quat</a> (const Quaterniond &amp;q, const Vector3d &amp;t)</td></tr>
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<tr class="memitem:ada36ff00a7a238cef3fe958ff9f7f9cd"><td class="memTemplParams" colspan="2">template&lt;typename Derived &gt; </td></tr>
<tr class="memitem:ada36ff00a7a238cef3fe958ff9f7f9cd"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#ada36ff00a7a238cef3fe958ff9f7f9cd">SE3Quat</a> (const MatrixBase&lt; Derived &gt; &amp;v)</td></tr>
<tr class="memdesc:ada36ff00a7a238cef3fe958ff9f7f9cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map&lt;Vector6d&gt;  <a href="#ada36ff00a7a238cef3fe958ff9f7f9cd">More...</a><br /></td></tr>
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<tr class="memitem:a1f55879ec2e4801d5de4b12b301ff59c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a1f55879ec2e4801d5de4b12b301ff59c">setRotation</a> (const Quaterniond &amp;r_)</td></tr>
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<tr class="memitem:aaf12f03b09b2a3a4c9185edcc8b141cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#aaf12f03b09b2a3a4c9185edcc8b141cb">setTranslation</a> (const Vector3d &amp;t_)</td></tr>
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<tr class="memitem:a88de9de9db852e2a0414bcd2afdc0fda"><td class="memItemLeft" align="right" valign="top">Matrix&lt; double, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a88de9de9db852e2a0414bcd2afdc0fda">to_homogeneous_matrix</a> () const</td></tr>
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<tr class="memitem:a2b5a5177c2d5e6e637019253e9630a08"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a2b5a5177c2d5e6e637019253e9630a08">toMinimalVector</a> () const</td></tr>
<tr class="separator:a2b5a5177c2d5e6e637019253e9630a08"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59ecabba8306c7ab111d1cc483561f61"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a59ecabba8306c7ab111d1cc483561f61">toVector</a> () const</td></tr>
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<tr class="memitem:a3f36961ad875394c3d305883bebb26bc"><td class="memItemLeft" align="right" valign="top">const Vector3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a3f36961ad875394c3d305883bebb26bc">translation</a> () const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a374a05b202889d09d5a3a25e0fb6c103"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">exp</a> (const <a class="el" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a> &amp;update)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a5bcd64993957b1a87a113d9a282d4fcb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a5bcd64993957b1a87a113d9a282d4fcb">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a></td></tr>
<tr class="separator:a5bcd64993957b1a87a113d9a282d4fcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a420255bcfca499dc2669b27fd373f665"><td class="memItemLeft" align="right" valign="top">Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a></td></tr>
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<tr class="memitem:a7f0078e2750e8f821926f2d51202a809"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="paramtype">const Quaterniond &amp;&#160;</td>
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template&lt;typename Derived &gt; </div>
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<p>templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map&lt;Vector6d&gt; </p>

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          <td class="memname">void g2o::SE3Quat::fromMinimalVector </td>
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          <td class="memname"><a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> g2o::SE3Quat::inverse </td>
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          <td class="memname">double g2o::SE3Quat::operator [] </td>
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          <td class="memname">g2o::SE3Quat::operator Eigen::Isometry3d </td>
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<p>cast <a class="el" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> into an Eigen::Isometry3d </p>

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          <td class="memname">void g2o::SE3Quat::setRotation </td>
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          <td class="memname"><a class="el" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a> g2o::SE3Quat::toMinimalVector </td>
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          <td> const</td>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname">Quaterniond g2o::SE3Quat::_r</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/types/<a class="el" href="se3quat_8h_source.html">se3quat.h</a></li>
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